WO2001068316A1 - Werkzeugwechselvorrichtung für eine werkzeugmaschine - Google Patents

Werkzeugwechselvorrichtung für eine werkzeugmaschine Download PDF

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Publication number
WO2001068316A1
WO2001068316A1 PCT/EP2001/002547 EP0102547W WO0168316A1 WO 2001068316 A1 WO2001068316 A1 WO 2001068316A1 EP 0102547 W EP0102547 W EP 0102547W WO 0168316 A1 WO0168316 A1 WO 0168316A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
spindle
transport
magazine
changing device
Prior art date
Application number
PCT/EP2001/002547
Other languages
German (de)
English (en)
French (fr)
Inventor
Thorsten Lasch
Original Assignee
Deckel Maho Seebach Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deckel Maho Seebach Gmbh filed Critical Deckel Maho Seebach Gmbh
Priority to JP2001566854A priority Critical patent/JP3690597B2/ja
Priority to EP01911744A priority patent/EP1194266B1/de
Priority to DE50105353T priority patent/DE50105353D1/de
Publication of WO2001068316A1 publication Critical patent/WO2001068316A1/de
Priority to US09/993,154 priority patent/US6802801B2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155421—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving independently from each other
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
    • B23Q2003/155432—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about different axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
    • B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
    • B23Q2003/155446—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable with translation of the pivoting axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix
    • Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix
    • Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
    • Y10T483/1755—Plural tool holders pivotable about common axis
    • Y10T483/1757—Plural tool holders pivotable about common axis including intermediate tool changer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix
    • Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
    • Y10T483/1755—Plural tool holders pivotable about common axis
    • Y10T483/1757—Plural tool holders pivotable about common axis including intermediate tool changer
    • Y10T483/176—Intermediate tool changer includes tool holder pivotable about axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix
    • Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
    • Y10T483/1779—Linearly movable tool holder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix
    • Y10T483/1783—Tool changer between spindle and matrix including linearly translatable tool changer [e.g., shuttle, ram, etc.]

Definitions

  • the invention relates to a tool changing device according to the preamble of patent claim 1.
  • a tool changing device of the known type has a transport device which can be moved along a horizontal linear guide and along a third vertical linear guide between a magazine transfer position and a spindle transfer position.
  • the transport device carries a tool holder with two grippers which can be pivoted about an axis perpendicular to the vertical feed direction and to the spindle axis between the spindle transfer position with the tools being aligned horizontally and the vertical magazine transfer position.
  • the pivoting movement is derived from the movement of the transport device via a link guide.
  • Three feed axes and at least one swivel axis are therefore required to transport the tool.
  • the feed axes must be equipped with a feed drive.
  • Such a tool changing device is complex and expensive. It also takes up a lot of space.
  • Another known tool changing device (DE 40 09 537 C2) has a transport device which is loaded along a single linear guide between a magazine and a neighboring transfer position and a spindle transfer position is movable.
  • the transport device carries a tool holder with two grippers which can be pivoted about an axis parallel to the feed direction between the spindle transfer position with the tools horizontally aligned and the vertical magazine transfer position.
  • the pivoting movement is derived via a link guide from the movement of the transport device, which takes place between the magazine transfer position and the spindle transfer position, by means of a rack and pinion gear.
  • the tools must be exchanged between the magazine and the tool holder in the magazine transfer position by means of a special handling device.
  • the rack and pinion gear and the additional handling device make the device considerably more expensive.
  • the object of the invention is to design a tool changing device of the type which is known to be simpler, cheaper and less prone to failure.
  • the tool changing device manages with a single drive for the tool transport.
  • the transport direction is selected so that a tool can be inserted directly into a tool holder in the magazine with the transport movement.
  • the tool is through the transport movement brought to the spindle transfer position in one move. No gear is required to swivel the tool in the direction of the spindle.
  • the tool change time can be shortened considerably if two transport devices are arranged side by side, one of which picks up the used processing tool held in the tool spindle at a spindle transfer position and stores it in an empty storage space of the tool magazine while the other transport device is inserted has a new machining tool removed from the tool magazine in the spindle transfer position for the tool spindle.
  • Figure 1 a schematic side view of a tool changing device
  • Figure 2 a front view of the tool magazine with the tool changing device of FIG. 1st BEST WAY TO CARRY OUT THE INVENTION
  • a tool magazine 2 carries a plurality of tool holders 2c on a rotatingly driven magazine chain 2b, not shown in FIG. 1, into which tools 3 are accommodated with their taper shank 3b.
  • a tool changing device is provided with one of two mirror-image-shaped transport devices 4, which comprises two slides 4a and 4b which can be displaced on a guide 4e running in the vertical direction.
  • a tool holder 5 is mounted on the first slide 4a so as to be pivotable about a pivot axis 5a.
  • a feed drive 4d designed as a piston-cylinder unit acts on the second slide 4b.
  • a compensating lever 4c is mounted on the second slide 4b and is articulated to the tool holder 5 at a distance from the pivot axis 5a.
  • a carrier 6c of an actuating device 6 for the tool holder 5 is arranged stationary on the magazine 2.
  • the actuating device 6 pivots the tool holder 5 during the displacement of the transport device 4 between the ready position and a spindle transfer position by means of a sliding block 6d attached to it, which is guided in a sliding block 6b provided in the carrier 6c.
  • a tool spindle 1 of a machine tool (not shown) is brought into alignment with the taper shank 3b of a provided tool 3 with its tool clamping cone 1b.
  • the spindle axis la is also aligned with the axis of rotation 3a of the tool 3.
  • a guide plate 5b is mounted on the tool holder 5 and can be displaced between two positions transversely to the transport direction 4f of the transport device 4 identified by a double arrow.
  • the guide plate 5b grips a tool 3 below its taper shank 3b in a circumferential wedge-shaped annular groove 3c and holds the tool 3 in a fixed position relative to the tool holder 5.
  • the guide plate 5b releases the tool 3 so that it can be transported away from the magazine chain 2b from the ready position or can be moved from the tool spindle 1 into the machining area in the spindle transfer position.
  • FIG. 2 shows an overall view of the tool magazine 2 with the tool changing device but without the machine tool.
  • a magazine chain 2b is guided on a magazine rack 2a and is driven in rotation by a chain drive 2d.
  • the magazine chain 3 has a plurality of tool holders 2 c which carry tools 3.
  • the magazine chain 2b In the magazine preparation position, the magazine chain 2b has an empty tool holder 2c and a tool holder 2c equipped with the tool 3 to be exchanged next.
  • Each of these two tool holders 2c is assigned to one of the transport devices 4 described above.
  • the carrier 6c which carries a guide 4e on each side, is arranged between the two tool holders 2c in the preparation position.
  • two slides 4a and 4b of the transport devices 4 can be displaced in a mirror-image arrangement between the preparation position and the spindle transfer position.
  • a tool change takes place with the following sequence of movements:
  • the chain drive 2d drives the magazine chain 2b until the next tool 3 to be ordered is in the ready position.
  • the selected tool 3 is gripped by the guide plate 5b of the tool holder 5m in this position and its groove 3c.
  • the tapered shaft 3b of the tool is pulled out of the tool holder 2c.
  • the tool holder 5 pivots in a direction parallel to the spindle axis 1 a, which the tool 3 assumes when the spindle transfer position is reached.
  • this tool holder 5 equipped with a new tool 3 there is already the empty tool holder 5 of the second transport device 4 with the same inclination m of the spindle transfer position.
  • the tool spindle 1 is moved in the direction of its spindle axis la with the tool 3 to be exchanged into the spindle transfer position. There, the guide plate 5b of the empty tool holder 5 grips the tool 3 clamped by the tool spindle 1. A short return stroke of the tool spindle 1 releases the taper shank 3b from the tool clamping cone Ib. The transport device 4 now transports the used tool 3 to the empty tool holder 2c in the magazine 2. At the same time, the tool spindle 1 becomes parallel to itself even moved to the second tool holder 5, from which it takes over the new tool 3 by lowering it in the direction of the spindle. After it has been taken over, the guide plate 5b is withdrawn from the tool 3.
  • the transport device 4 returns empty m to its starting position, the actuating device 6 pivoting the tool holder 5 again into the angular position suitable for taking over a next tool 3.
  • the tool change process is now complete and the tool spinner 1 is ready to start a machining process.
  • the tool change can also be carried out with a single transport device 4. However, the transport movements with the used and with a new tool 3 must take place in succession. It is also possible to use a single transport device 4 with a double gripper if an empty tool holder 2c can be provided in the tool magazine 2 in addition to an immediately adjacent tool holder 2c with the next required tool 3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
PCT/EP2001/002547 2000-03-15 2001-03-07 Werkzeugwechselvorrichtung für eine werkzeugmaschine WO2001068316A1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2001566854A JP3690597B2 (ja) 2000-03-15 2001-03-07 工作機械のための工具交換装置
EP01911744A EP1194266B1 (de) 2000-03-15 2001-03-07 Werkzeugwechselvorrichtung für eine werkzeugmaschine
DE50105353T DE50105353D1 (de) 2000-03-15 2001-03-07 Werkzeugwechselvorrichtung für eine werkzeugmaschine
US09/993,154 US6802801B2 (en) 2000-03-15 2001-11-06 Tool changing device for a tool machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10012665.0 2000-03-15
DE10012665A DE10012665C2 (de) 2000-03-15 2000-03-15 Werkzeugwechselvorrichtung für eine Werkzeugmaschine

Publications (1)

Publication Number Publication Date
WO2001068316A1 true WO2001068316A1 (de) 2001-09-20

Family

ID=7634845

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2001/002547 WO2001068316A1 (de) 2000-03-15 2001-03-07 Werkzeugwechselvorrichtung für eine werkzeugmaschine

Country Status (8)

Country Link
US (1) US6802801B2 (cs)
EP (1) EP1194266B1 (cs)
JP (1) JP3690597B2 (cs)
CN (1) CN1153651C (cs)
CZ (1) CZ292525B6 (cs)
DE (2) DE10012665C2 (cs)
ES (1) ES2233610T3 (cs)
WO (1) WO2001068316A1 (cs)

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Publication number Priority date Publication date Assignee Title
US6976181B2 (en) * 2001-12-20 2005-12-13 Intel Corporation Method and apparatus for enabling a low power mode for a processor
DE102004031066A1 (de) * 2004-03-03 2005-09-22 Grob-Werke Burkhart Grob E.K. Werkzeugmaschine mit mindestens einer Arbeitsspindel
CN1743130B (zh) * 2005-09-25 2010-08-11 威海华东数控股份有限公司 机床用平行移动式自动工具交换装置
JP4837970B2 (ja) * 2005-10-06 2011-12-14 株式会社ディスコ 切削ブレードの交換装置
DE102007017324B4 (de) * 2007-04-11 2009-08-20 Starragheckert Gmbh Einrichtung zum Wechseln von Werkzeugen und/oder Werkstücken
US7775955B1 (en) * 2008-11-04 2010-08-17 Honda Motor Co., Ltd. Cutting tool removal and installation assist device
CN102205503B (zh) * 2010-03-30 2013-09-18 财团法人精密机械研究发展中心 联动式刀库换刀装置
KR101761913B1 (ko) * 2010-10-18 2017-08-07 두산공작기계 주식회사 자동공구교환장치의 툴 캐리어
CN102114603B (zh) * 2010-11-24 2013-03-27 大连华根机械有限公司 龙门加工中心机床用头库
CN115401496B (zh) * 2022-09-30 2023-10-13 山西宏达聚益机械设备有限公司 一种自动化数控机床

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DE2107419A1 (de) * 1970-02-17 1971-10-07 Giddings & Lewis Automatische Werkzeugwechselvor richtung fur Werkzeugmaschinen
EP0291570A2 (de) * 1987-05-21 1988-11-23 IMA-Norte Maschinenfabriken Klessmann GmbH & Co. Werkzeugmaschine mit vertikaler Arbeitsspindel und Werkzeugwechselvorrichtung
DE4009537A1 (de) * 1990-03-24 1991-10-02 Werner & Kolb Werkzeugmasch Werkzeugwechseleinrichtung fuer eine bearbeitungsmaschine
EP0642880A1 (de) * 1993-09-13 1995-03-15 BERNHARD STEINEL WERKZEUGMASCHINENFABRIK GmbH u. Co. Werkzeugwechsler für ein Bearbeitungszentrum

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JPS60123241A (ja) * 1983-12-02 1985-07-01 Aioi Seiki Kk マシニングセンタ−の工具交換装置
DE8407327U1 (de) * 1984-03-09 1984-12-06 Friedrich Deckel AG, 8000 München Einrichtung zum einwechseln von werkzeugen oder dgl. in die arbeitsspindel einer werkzeugmaschine
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JPS6150743A (ja) * 1985-06-13 1986-03-13 Osaka Kiko Co Ltd 工具自動供給装置
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Publication number Priority date Publication date Assignee Title
DE2107419A1 (de) * 1970-02-17 1971-10-07 Giddings & Lewis Automatische Werkzeugwechselvor richtung fur Werkzeugmaschinen
EP0291570A2 (de) * 1987-05-21 1988-11-23 IMA-Norte Maschinenfabriken Klessmann GmbH & Co. Werkzeugmaschine mit vertikaler Arbeitsspindel und Werkzeugwechselvorrichtung
DE4009537A1 (de) * 1990-03-24 1991-10-02 Werner & Kolb Werkzeugmasch Werkzeugwechseleinrichtung fuer eine bearbeitungsmaschine
EP0642880A1 (de) * 1993-09-13 1995-03-15 BERNHARD STEINEL WERKZEUGMASCHINENFABRIK GmbH u. Co. Werkzeugwechsler für ein Bearbeitungszentrum

Also Published As

Publication number Publication date
EP1194266B1 (de) 2005-02-16
DE10012665A1 (de) 2001-09-27
US6802801B2 (en) 2004-10-12
US20020035018A1 (en) 2002-03-21
CZ20012828A3 (cs) 2003-02-12
CN1358124A (zh) 2002-07-10
DE10012665C2 (de) 2003-10-09
CZ292525B6 (cs) 2003-10-15
ES2233610T3 (es) 2005-06-16
DE50105353D1 (de) 2005-03-24
JP2003526526A (ja) 2003-09-09
JP3690597B2 (ja) 2005-08-31
EP1194266A1 (de) 2002-04-10
CN1153651C (zh) 2004-06-16

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